Anticipatory Robot Goalkeeping via Monotone Optimal Stopping

arXiv:2609.23976 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Terminology

• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Actor — 4× in this paper · explained in 3 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Transfer Learning — 1× in this paper · explained in 10 episodes

Sources

• Interaction-Aware Whole-Body Control for Compliant Object Transport
• Cognition to Control - Multi-Agent Learning for Human-Humanoid Collaborative Transport
• Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints
• HALO: Learning Human-Robot Collaboration via Heterogeneous-Agent Lyapunov Policy Optimization
• Proximal Policy Optimization Algorithms

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